Fort=0 功= 5π 3 x1-cos 0.5 y-sind -0.8660 x2-cos-cos 5m/3 Φ(4，)= y2-sind-sin Estimate 1.5 当+1 z1- π -1.0 63 6.14 1 0 sing 00 0 0 1 -cos 00 0 0 0 sing 1 0 更，(g,）)= sin 00 -cos 0 1 -c0s42 0 0 0 01 0 0 0 1 00 0 Sove电(g,0)4g=-Φ(g,0）  1 1 1 1 2 1 2 2 1 2 2 1 cos sin cos cos , sin sin 1 5 6 3 x y x t y y t                           q Estimate For t = 0 1 5 3    (0) 0.5 0.8660 5 / 3 1.5 1.0 6.14           q   1 1 1 2 1 2 1 0 sin 0 0 0 0 1 cos 0 0 0 0 0 sin 1 0 sin , 0 0 cos 0 1 cos 0 0 0 0 1 0 0 0 1 0 0 0 t                 q  q Solve     (0) (0) (0) ,0    ,0 q  q q  q